Design and development of an automatic compliant microgripper for cell manipulation

Robots and automation systems are widely used in industry and manufacturing in Thailand and worldwide.  The increase in robotic and automation systems is due to the lack of labor and performing repetitive tasks. Robots and automation systems can perform the tasks with higher precision at a faster speed, and therefore it helps improve the efficiency of the manufacturing process.  In particular, in biotechnology, using robots and automation is still a challenge.  An automated system could be developed to handle soft deformable cells with higher precision as part of cell expansion for regenerative medicine.  To achieve that goal, this project proposes the development of a compliant microgripper for handling cells with force and displacement control.  The compliant mechanism is suitable for handling micrometer or nanometer sizes of objects.  The goal is to apply a compliant mechanism as a microgripper for handling single cells, cell sheet, and cell pellet.  While cells are indifferent form, the sizes are different, and the elasticity of the cells.  It is essential to handle various forms of cells with controllable forces without damaging the cells.  With the challenges mentioned earlier in handling cells, a compliant mechanism was proposed for developing a microgripper and a controller design to control an automated gripper.  The result of this project could be further applied in other manufacturing processes which require handling small objects with high precision, such as in the manufacturing of electronic parts.